Automobile body intelligent scanning, spraying and detecting integrated device

Abstract

The application discloses a car body intelligent scanning, spraying and detecting integrated equipment and belongs to the technical field of car paint spraying. The car body intelligent scanning, spraying and detecting integrated equipment comprises a portal frame and a frame shaft seat, a detection platform is arranged above the frame shaft seat, a dustproof plate is arranged on the outer side of the portal frame, and a truss is arranged on the inner side of the top of the portal frame. In order to solve the problem that the existing automatic paint spraying structure cannot effectively guarantee the spraying thickness of each surface when the car body structure is sprayed, and the production efficiency is reduced due to the fact that once the paint surface thickness is not uniform, the car body needs to be detected through multiple procedures and then is subjected to secondary spraying processing, the three function modules of three-dimensional scanning, intelligent spraying and online detection are integrated in the portal frame system, the scanning, spraying and quality inspection full-process automation closed loop is realized, the step-by-step operation needing multiple displacements in the traditional process is compressed into single-station completion, and therefore the production efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of car paint spraying, in particular to an intelligent scanning and spraying and detecting integrated equipment for automobile bodies. BACKGROUND

[0002] With the development of science and technology, automatic paint spraying machines have gradually become popular and replaced manual spraying. An automatic paint spraying machine is a kind of painting equipment that can automatically disperse paint into mist and spray it on the surface of a product to be painted. It is designed for the current paint spraying process and can automatically replace or clean the mold and paint spraying gun while automatically completing paint spraying. The automatic paint spraying machine is also generally designed with safety doors, dust covers and protective windows, etc. The paint dust can be isolated in the dust cover to avoid the adverse effects of paint dust on the operator, improve product quality, greatly improve production efficiency, reduce raw material consumption, save costs, improve the working environment of the operator, protect the health of the operator, and reduce pollution to the external environment.

[0003] However, the existing automatic paint spraying structure cannot effectively guarantee the spraying thickness of each surface when spraying the body structure. Once the paint surface thickness is not uniform, multiple program detections are required before secondary spraying processing, which reduces production efficiency. SUMMARY

[0004] The purpose of the present application is to provide an intelligent scanning and spraying and detecting integrated equipment for automobile bodies, which integrates three-dimensional scanning, intelligent spraying and online detection into a gantry system, realizes full-process automation of scanning, spraying and quality inspection, and compresses the step-by-step operation of multiple displacements in traditional processes into a single station, thereby improving production efficiency and solving the problems in the prior art.

[0005] To achieve the above purpose, the present application provides the following technical scheme: an intelligent scanning and spraying and detecting integrated equipment for automobile bodies, comprising a gantry and a frame shaft seat, a detection platform is arranged above the frame shaft seat, a dust plate is arranged on the outer side of the gantry, a truss is arranged on the inner side of the top of the gantry, the truss is connected with the gantry through bolts, a toothed rail is arranged on the outer surface of the truss, one end of the toothed rail is provided with a translation sliding block, wherein a spraying robot is arranged on the outer side of the translation sliding block, the detection platform comprises a supporting assembly, a detection assembly, a clamping assembly and a positioning assembly.

[0006] Further, the spraying robot comprises a base, the base is connected with the translation slide through bolts, wherein the upper side of the base is provided with a rotary table, the rotary table is rotationally connected with the base, the upper side of the rotary table is provided with two groups of driving connecting arms, the driving connecting arms are rotationally connected, a seven-axis linkage structure of double driving connecting arms and universal shaft arm is adopted, compared with the traditional six-axis mechanical arm, the axial compensation capability is increased, the telescopic connecting rod cooperates with the built-in laser ranging sensor to realize the dynamic adjustment of the spraying distance, and the film thickness deviation of complex curved surfaces such as the waist line of the car door and the wheel arch is ensured.

[0007] Further, one end of the driving connecting arm is provided with an oil cylinder assembly, the inside of the oil cylinder assembly is provided with a telescopic connecting rod, one end of the telescopic connecting rod is provided with a universal shaft arm, the universal shaft arm is rotationally connected with the telescopic connecting rod, wherein the front end of the universal shaft arm is provided with a spray head assembly, the spray head assembly is connected with the universal shaft arm through an axle bracket.

[0008] Further, the supporting assemblies are distributed at both ends of the detection platform, wherein the inner side of one group of supporting assemblies is provided with a clamping assembly, the detection assemblies are distributed at both sides of the detection platform, and both sides of one end of the detection platform are provided with positioning assemblies. The clamping assembly is integrated with a piezoelectric force sensor, the clamping force fluctuation is monitored in real time, the clamping pressure is dynamically adjusted through a PID algorithm, and the distortion of the detection reference surface caused by the deformation of the vehicle body is avoided.

[0009] Further, the detection assembly comprises a shaft tube, one side of the upper side of the shaft tube is provided with a steering joint, the steering joint is provided as a two-section steering structure, one side of the steering joint is provided with a hanger, and the hanger is connected with the steering joint through bolts.

[0010] Further, one side of the hanger is provided with a visual probe, the visual probe is connected with the hanger through a clamping groove, the other side of the hanger is provided with a machine box, the machine box is connected with the hanger through bolts, one end of the machine box is provided with a ball probe rod, wherein the front end of the ball probe rod is provided with a ball structure, a silicon nitride ceramic ball is adopted, the contact capacitance change of the ball and the paint surface is detected through an electromagnetic eddy current sensor, and the contact force can be dynamically adjusted through a ball pressure closed loop control module, so that the unhardened coating is prevented from being scratched.

[0011] Further, the bottom of the frame shaft seat is provided with a damping pad, both sides of the upper side of the frame shaft seat are provided with a plurality of supporting rails, wherein the upper side of the supporting rail is provided with a movable supporting plate, and both ends of the movable supporting plate are provided with top supports, and the top supports are connected with the detection platform through bolts.

[0012] Further, one end of the frame shaft seat is provided with a driving motor, one end of the driving motor is provided with a transmission belt, wherein the transmission belt extends to between the supporting rails, the outer side of the supporting rail is provided with a side pulley, the transmission belt is connected with the detection platform through a buckle plate, and the movable supporting plate is connected with the supporting rail in a sliding mode.

[0013] Compared with the prior art, the beneficial effects of the present invention are:

[0014] 1. This invention adopts a seven-axis linkage structure with a dual-drive connecting arm and a universal joint arm, which increases axial compensation capability compared to the traditional six-axis robotic arm. The telescopic linkage, together with the built-in laser rangefinder, enables dynamic adjustment of the spraying distance, ensuring film thickness deviation on complex curved surfaces such as car door waistlines and wheel arches. By integrating three major functional modules—three-dimensional scanning, intelligent spraying, and online detection—into the gantry system, a fully automated closed-loop process of scanning, spraying, and quality inspection is achieved. The step-by-step operations that require multiple shifts in the traditional process are compressed into a single station, thereby improving production efficiency.

[0015] 2. In this invention, the front end of the ball probe is provided with a ball structure, which uses silicon nitride ceramic balls. The change in contact capacitance between the balls and the paint surface is detected by an electromagnetic eddy current sensor. At the same time, the ball pressure closed-loop control module can dynamically adjust the contact force to avoid scratching the uncured coating. Attached Figure Description

[0016] Fig. 1 This is the overall front view of the present invention;

[0017] Fig. 2 This is a schematic diagram of the gantry structure of the present invention;

[0018] Fig. 3 This is a schematic diagram of the spraying robot structure of the present invention;

[0019] Fig. 4 This is a schematic diagram of the detection platform structure of the present invention;

[0020] Fig. 5 This is a schematic diagram of the detection component structure of the present invention;

[0021] Fig. 6 This is a schematic diagram of the frame axle seat structure of the present invention.

[0022] In the diagram: 1. Gantry; 2. Chassis axle seat; 3. Inspection platform; 101. Truss; 102. Painting robot; 103. Dustproof plate; 1011. Gear rail; 1012. Translation slider; 1021. Base; 1022. Turntable; 1023. Drive arm; 1024. Hydraulic cylinder assembly; 1025. Telescopic link; 1026. Universal joint arm; 1027. Spray head assembly; 201. Vibration damping pad; 202. Moving pallet; 203. Drive motor; 204. Rail; 2021. Top support; 2031. Transmission belt; 2041. Side pulley; 301. Support assembly; 302. Detection assembly; 303. Clamp assembly; 304. Positioning assembly; 3021. Shaft tube; 3022. Steering joint; 3023. Hanger; 3024. Vision probe; 3025. Housing; 3026. Ball bearing probe. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work are within the protection scope of the present application.

[0024] In order to solve the problem that the existing automatic paint spraying structure cannot effectively guarantee the spraying thickness of each surface when spraying the body structure, and needs to be detected by multiple procedures and then sprayed again once the paint surface thickness is not uniform, resulting in low production efficiency, please refer to Figs. 1-6 The embodiment provides the following technical solutions:

[0025] Reference Figs. 1-3 The automobile body intelligent scanning and spraying and detecting integrated equipment comprises a portal frame 1 and an axle seat 2 of a vehicle frame, a detection platform 3 is arranged above the axle seat 2 of the vehicle frame, a dustproof plate 103 is arranged on the outer side of the portal frame 1, a truss 101 is arranged on the inner side of the top of the portal frame 1, the truss 101 is connected with the portal frame 1 through bolts, a toothed rail 1011 is arranged on the outer surface of the truss 101, and one end of the toothed rail 1011 is provided with a translation sliding block 1012, wherein the outer side of the translation sliding block 1012 is provided with a spraying robot 102, and the detection platform 3 comprises a supporting assembly 301, a detecting assembly 302, a clamping assembly 303 and a positioning assembly 304.

[0026] In the embodiment, the three functions of three-dimensional scanning, intelligent spraying and online detection are integrated in the portal frame 1 system, the scanning, spraying and quality inspection full-process automation closed loop is realized, the step-by-step operation needing multiple displacements in the traditional process is compressed to be completed in a single station, the efficiency is improved by about 40% and 60%, and the equipment is especially suitable for the precise coating demand of the lightweight aluminum alloy / carbon fiber composite material of the new energy vehicle body. The equipment is particularly suitable for small-batch flexible production of high-end customized vehicle models, the color changing time is shortened to 8 minutes through digital closed loop control, the VOC emission is reduced by 45%, the comprehensive operation cost is reduced by about 28% compared with the traditional coating line, and the dynamic compensation capacity can effectively solve the problem of uniformity of the thermal management coating of the battery pack area of the electric vehicle.

[0027] The spraying robot 102 comprises a base 1021 which is connected to the translation slide 1012 by bolting, wherein the upper portion of the base 1021 is provided with a rotary table 1022 which is rotationally connected to the base 1021, the upper portion of the rotary table 1022 is provided with two groups of driving link arms 1023 which are rotationally connected between the driving link arms 1023, one end of the driving link arms 1023 is provided with an oil cylinder assembly 1024, wherein the inside of the oil cylinder assembly 1024 is provided with a telescopic connecting rod 1025, one end of the telescopic connecting rod 1025 is provided with a universal shaft arm 1026 which is rotationally connected to the telescopic connecting rod 1025, wherein the front end of the universal shaft arm 1026 is provided with a spray head assembly 1027 which is connected to the universal shaft arm 1026 through an axle support, the spray head assembly 1027 can be connected to a pneumatic structure and a paint tank through a hose;

[0028] In the embodiment, a seven-axis linkage structure of double driving link arms and a universal shaft arm is adopted, which increases the axial compensation capability compared with a traditional six-axis mechanical arm, the telescopic connecting rod 1025 cooperates with a built-in laser ranging sensor to realize dynamic adjustment of the spraying distance, and ensures the film thickness deviation of complex curved surfaces such as door waist lines and wheel arches.

[0029] Reference Figs. 4-5 The supporting assembly 301 is distributed at both ends of the detection platform 3, two groups of supporting assemblies 301 are distributed at both ends of the detection platform 3, a pneumatic suspension support structure is adopted, and a V-shaped self-locking clamp of the inner side clamp assembly 303 is cooperated to realize three-point flexible fixing of the body bottom longitudinal beam, wherein the inner side of one group of supporting assemblies 301 is provided with a clamp assembly 303, the clamp assembly 303 is integrated with a piezoelectric force sensor, the clamping force fluctuation is monitored in real time, the clamping pressure is dynamically adjusted through a PID algorithm, the distortion of the detection reference surface caused by the body deformation is avoided, the detection assembly 302 is distributed at both sides of the detection platform 3, both sides of one end of the detection platform 3 are provided with a positioning assembly 304, the detection assembly 302 comprises a shaft tube 3021, one side of the upper portion of the shaft tube 3021 is provided with a steering joint 3022, the steering joint 3022 is provided as a two-section steering structure, one side of the steering joint 3022 is provided with a hanger 3023 which is connected to the steering joint 3022 through bolting, one side of the hanger 3023 is provided with a visual probe 3024 which is connected to the hanger 3023 through a clamping groove, the other side of the hanger 3023 is provided with a machine box 3025 which is connected to the hanger 3023 through bolting, one end of the machine box 3025 is provided with a ball probe rod 3026, wherein the front end of the ball probe rod 3026 is provided with a ball structure, a silicon nitride ceramic ball is adopted, the diameter is 3mm, the roughness Ra≤0.05μm, the contact capacitance change of the ball and the paint surface is detected through an electromagnetic eddy current sensor, and the contact force can be dynamically adjusted by a ball pressure closed loop control module to avoid scratching the uncured coating;

[0030] In this embodiment, through the fusion of contact measurement and optical scanning, the traditional non-contact detection cannot obtain the thickness of the bottom layer, and the contact detection is easy to damage the coating. It is especially suitable for layer-by-layer quality analysis of multi-layer coating. The modular architecture can also be extended to battery box sealant detection, vehicle body welding spot non-destructive testing and other scenarios. It is a revolutionary solution for quality control in intelligent manufacturing scenarios.

[0031] After the frame is sprayed by the spraying robot 102, the paint surface is initially dried. The paint surface after drying will have different thicknesses due to uneven spraying. At this time, the paint surface is detected by sliding the ball probe 3026.

[0032] Reference Fig. 6 The bottom of the frame shaft seat 2 is provided with a shock pad 201, and the upper sides of the frame shaft seat 2 are provided with a plurality of supporting rails 204. The upper side of the supporting rail 204 is provided with a movable supporting plate 202, and the two ends of the movable supporting plate 202 are provided with a top support 2021. The top support 2021 is connected to the detection platform 3 by bolts, and can control the height adjustment of the entire detection platform 3. One end of the frame shaft seat 2 is provided with a driving motor 203, and one end of the driving motor 203 is provided with a transmission belt 2031. The transmission belt 2031 extends between the supporting rails 204, and the outer side of the supporting rail 204 is provided with a side pulley 2041. The transmission belt 2031 is connected to the detection platform 3 by a buckle plate. The movable supporting plate 202 is slidingly connected to the supporting rail 204. The transmission belt 2031 can drive the detection platform 3 to move, and the supporting rail 204 cooperates with the side pulley 2041 to reduce the friction resistance of the movable supporting plate 202, thereby realizing smooth movement of the frame.

[0033] In this embodiment, the frame has a large overall volume and needs to be moved to the next step after spraying. When moving, the frame is easy to knock due to shaking. At this time, the movable supporting plate 202 can drive the entire frame structure to move, and the stability of the frame is maintained during the process.

[0034] Working principle, the frame structure is placed above the detection platform 3, two groups of supporting components 301 are distributed at both ends of the detection platform 3, adopt the pneumatic suspension support structure, cooperate with the V-shaped self-locking clamp of the inside supporting and clamping assembly 303, realize the three-point flexible fixation of the longitudinal beam at the bottom of the vehicle body, after fixing the frame, utilize the spraying robot 102 on both sides of the gantry 1 to spray the frame, after spraying the frame by the spraying robot 102, carry out the primary drying of the paint surface, after drying, carry out the sliding detection of the paint surface by the ball probe rod 3026, the front end of the ball probe rod 3026 is provided with a ball structure, adopt the silicon nitride ceramic ball, detect the contact capacitance change of the ball and the paint surface through the electromagnetic eddy current sensor, meanwhile, the ball pressure closed loop control module can dynamically adjust the contact force, avoid scratching the uncured coating, mark the area after detecting the thickness difference, and wait for secondary spraying, realize the full-process automation closed loop of scanning, spraying and quality inspection, the step-by-step operation needing multiple displacement in the traditional process is compressed to be completed in a single station.

[0035] It should be noted that the relational terms herein such as first and second and the like are used solely to distinguish one entity or action from another, without necessarily requiring or implying any such actual relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0036] Although the embodiments of the present application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions, and alterations can be made hereto without departing from the principles and spirit of the present application.

Claims

1. An integrated intelligent scanning, spraying, and inspection equipment for automobile bodies, characterized in that: The system includes a gantry (1) and a frame axle seat (2). A testing platform (3) is provided above the frame axle seat (2). A dustproof plate (103) is provided on the outer side of the gantry (1). A truss (101) is provided on the inner side of the top of the gantry (1). The truss (101) is connected to the gantry (1) by bolts. A toothed rail (1011) is provided on the outer surface of the truss (101). A translation slider (1012) is provided at one end of the toothed rail (1011). A painting robot (102) is provided on the outer side of the translation slider (1012). The testing platform (3) includes a support component (301), a testing component (302), a clamping component (303), and a positioning component (304). The bottom of the frame axle seat (2) is provided with a shock-absorbing pad (201), and multiple support rails (204) are provided on both sides above the frame axle seat (2). A movable support plate (202) is provided above each support rail (204), and top supports (2021) are provided at both ends of the movable support plate (202). The top supports (2021) are bolted to the testing platform (3). A drive motor (203) is provided at one end of the frame axle seat (2), and a transmission belt (2031) is provided at one end of the drive motor (203). The transmission belt (2031) extends between the support rails (204). The outer side of the 204) is provided with a side pulley (2041), the transmission belt (2031) is connected to the detection platform (3) by a buckle plate, the movable pallet (202) is slidably connected to the rail (204), the spraying robot (102) includes a base (1021), the base (1021) and the translation slider (1012) are connected by bolts, wherein a turntable (1022) is provided above the base (1021), the turntable (1022) is rotatably connected to the base (1021), and two sets of drive arms (1023) are provided above the turntable (1022). The drive arm (1023) is rotatably connected to the control arm (3). One end of the drive arm (1023) is provided with a hydraulic cylinder assembly (1024). The hydraulic cylinder assembly (1024) contains a telescopic connecting rod (1025). One end of the telescopic connecting rod (1025) is provided with a universal joint arm (1026). The universal joint arm (1026) is rotatably connected to the telescopic connecting rod (1025). The front end of the universal joint arm (1026) is provided with a nozzle assembly (1027). The nozzle assembly (1027) is connected to the universal joint arm (1026) via a shaft bracket. The support assembly (301) is distributed at both ends of the detection platform (3). Among them, a set of support components (301) is provided with a clamping component (303) on the inner side. The detection components (302) are distributed on both sides of the detection platform (3). Positioning components (304) are provided on both sides of one end of the detection platform (3). The detection component (302) includes a shaft tube (3021). A steering joint (3022) is provided on one side above the shaft tube (3021). The steering joint (3022) is configured as a two-stage steering structure. A bracket (3023) is provided on one side of the steering joint (3022). The bracket (3023) is connected to the steering joint (3022) by bolts.

2. The intelligent scanning, spraying, and inspection integrated equipment for automobile bodies according to claim 1, characterized in that: A vision probe (3024) is provided on one side of the bracket (3023), and the vision probe (3024) is connected to the bracket (3023) through a slot. A housing (3025) is provided on the other side of the bracket (3023), and the housing (3025) is connected to the bracket (3023) by bolts. A ball bearing probe (3026) is provided at one end of the housing (3025), wherein the front end of the ball bearing probe (3026) is provided with a ball bearing structure.

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